So the issue is that how to make KUKA robot movemnst nice and steady in tight spaces.
So I have in the .src side command like this:
SLIN MC_Inside1 CONT Vel=0.7 m/s McInside Tool[1]:PalletGripper Base[0] ColDetect[1]
Then I have defined it to use:
DECL LDAT LMcInside={VEL 0.200000,ACC 100.000,APO_DIST 50.0000,APO_FAC 50.0000,AXIS_VEL 20.0000,AXIS_ACC 10.0000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0}
So hopefully somebody can tell me what these LDAT values are and what is actually the speed what this motion is using